The TMCM-111-42 is an intelligent stepper motor controller and driver module to be mounted directly on a 42mm flange motor. This dual-PCB module converts the motor into a compact mechatronic device with bus oriented or stand-alone control. The motor, switches, power and the multi purpose I/Os can be connected with small pluggable connectors. The TMCM-111 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands like "move to position" or "constant rotation" a rapid and fast development of motion control applications is guaranteed. The TMCM-111 can be controlled via an RS-232, RS-485, I²C or CAN interface. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed on board. The TMCL program can be stored in the on-board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the StallGuard feature it is possible to detect motor overload or motor stall.